Research
Research
Research
Research
32,423+ open-access research outputs.
We propose a matrix zonotope perturbation framework that leverages matrix perturbation theory to characterize how noise-induced distortions alter the dynamics within sets of models. The framework deri…
The invariance principle, through which the steady-state behavior of nonlinear systems was introduced by Isidori and Byrnes, is leveraged in this article to bring forth a unifying characterization of …
Heart rate variability (HRV) analysis is important for the assessment of autonomic cardiovascular regulation. The inverse Gaussian process (IGP) has been widely used for beat-to-beat HRV modeling, as …
We consider uplink frugal simultaneous localization and mapping (SLAM) in phase-coherent distributed MIMO (D-MIMO) systems, where a network of spatially separated single-antenna access points (APs) co…
This paper investigates the uplink capacity of single-input single-output (SISO) systems assisted by a swarm of network-controlled repeaters (NCRs). We develop a rigorous wideband formulation based on…
Data-driven reachability analysis using matrix zonotopes faces a fundamental challenge: the number of generators in the reachable set grows exponentially during propagation, while current order reduct…
Imitation learning (IL) policies in robotics deliver strong performance in controlled settings but remain brittle in real-world deployments: rare events such as hardware faults, defective parts, unexp…
Accurate building load forecasting plays a critical role in facilitating demand response aggregation and optimizing energy management. However, the complex temporal dependencies and high volatility of…
Mobile robots joining public spaces like sidewalks must care for pedestrian comfort. Many studies consider pedestrians' objective safety, for example, by developing collision avoidance algorithms, but…
The abundance of process operating data in modern industries, along with the rapid advancement of learning techniques, has led to a paradigm shift towards data-centric analysis and control. However, i…
Vision-and-Language Navigation for Unmanned Aerial Vehicles (UAV-VLN) represents a pivotal challenge in embodied artificial intelligence, focused on enabling UAVs to interpret high-level human command…
Co-training, which combines limited in-domain real-world data with abundant surrogate data such as simulation or cross-embodiment robot data, is widely used for training generative robot policies. Des…
High-precision direction-of-arrival (DOA) estimation, as a key sensing capability for 6G-enabled applications such as autonomous driving and extended reality, is increasingly dependent on the effectiv…
Rimless wheels are known as the simplest model for passive dynamic walking. It is known that the passive gait generated only by gravity effect always becomes asymptotically stable and 1-period because…
Cardiovascular diseases account for around 17.9 million deaths per year globally, the treatment of which is challenging considering the confined space and complex topology of the vascular network and …
Even when providing long-run, worst-case guarantees to competing flows of unit-sized tasks, a slot-timed, constant-capacity server's scheduler may retain significant, short-run, scheduling flexibility…
Conventional climate control in Controlled Environment Agriculture (CEA) uses independent PID loops for temperature and humidity, creating cross-coupling conflicts that waste 20-40% of HVAC energy. We…
Peer-to-peer (P2P) energy management facilitates decentralized resource allocation among prosumers, improving local hosting capacity for renewables and minimizing energy expenditures while ensuring da…
Deep learning has enabled highly realistic synthetic speech, raising concerns about fraud, impersonation, and disinformation. Despite rapid progress in neural detectors, transparent baselines are need…
We study the asymptotic optimality of abstraction-based control synthesis algorithms. Specifically, we consider uncertain MDP (UMDP) abstraction, and investigate whether refinement leads to optimal re…
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